Multiple use machine with tool changer



Aug. 17, 1965 R. A. LEHMKUHL MULTIPLE USE MACHINE WITH TOOL CHANGER 9Sheets-Sheet 1 Filed Aug. 27, 1962 INVENTOR. ROBERT A. LEHMKUHL BY MM,VJ0M A'r-rvs.

1965 R. A. LEHMKUHL 3,200,492

MULTIPLE USE MACHINE WITH TOOL CHANGER Filed Aug- 27, 1962 9Sheets-Sheet 2 INVENTOR. v 4 R0 @Em' A. LEHM KUHL m BY 146%; 7M1, wqdiww 119% w. A. LEHMMUWM :mwwm

MULTIPLE USE MACHINE WITH TOOL CHANGER Filed Aug. 27, 1962 9Sheets-Sheet 5 INVENTOR. ROBERT A. LEHMKUHL Aug. 17, 1965 R. A. LEHMKUHL3,

MULTIPLE USE MACHINE WITH TOOL CHANGER Filed Aug. 27, 1962 9Sheets-Sheet 4 INVENTOR. Roaew A. LEHMKUHL BY W4? 7%, WW

A'r'rYs Filed Aug. 27, 1952 Aug. 17, 1965 R. A. LIEHMIKUEIL MULTIPLE USEMACHINE WITH TOOL CHANGER 9 Sheets-Sheet 5 INVENTOR. A. LEHMKUHL Aug.17, 1965 R. A. LEHMKUHL 3 MULTIPLE USE MACHINE WITH TOOL CHANGER FiledAug. 27, 1962 9 Sheets-Sheet 6 INVENTOR. Romm A. LEHMKUHL Ma, 1%, wwm

Aug. 17, 1965 Filed Aug. 27, 1962 W. A. LEHMKUHL MULTIPLE USE MACHINEWITH TOOL CHANGER 9 Sheets-Sheet 7 INVENTOR.

Rosezm- A. LEHMKUHL.

Aug. 17, 1965 R. A. LEHMIKUHL 9 2 MULTIPLE USE MACHINE WITH TOOL CHANGERFiled Aug. 27, 1962 9 Sheets-Sheet 8 INVENTOR. Rosm'r A. LEHMKUHL Way 71 @W United States Patent O 3,200,492 MULTIPLE USE MACHHNE WITH TQOLEHANGLER Robert A. Lehinkuhl, Appleton, Wis., assignor to Giddings &Lewis Machine Tool Company, Fond du Lac, Wis, a corporation of WisconsinFiled Aug. 27, 1962, Ser. No. 219,538 14 Claims. (Ci. 29-568) Thisinvention relates to machine tools and more particularly to machinetools with automatic tool changing apparatus.

One of the objects of the present invention is to provide ahigh-production machine tool with automatic tool changer wherein thetool changer apparatus forms an integral part of the machine tool and issuited for high production having a very rapid tool change cycle withhigh capacity storage for tools and ready access to any tool.

Another object is to provide a tool changer mechanism having asimplified sequence of tool transfer operations.

Another object is to provide an upright drilling machine tool with toolchanger apparatus that is so compactly merged into the construction ofthe machine tool that the finished apparatus occupies substantially thesame floor space as the drilling machine tool without tool changerapparatus.

A related object is to provide means for supporting the tool storagematrixes of such tool change apparatus by the drilling machineheadstocks.

Another object is to provide an improved tool changer apparatus of thetype involving rectilinear movements of the tool during the transferoperation. In more detail it is an object of the invention to providetool changer apparatus employing a shuttle movable linearly from astation adjacent a storage matrix, to a station adjacent thelongitudinal axis of the machine tool spindle.

Another object is to provide faster tool change by employing a toolchanger apparatus having dual matrixes and shuttles for transferringsucceeding tools to the spindle from alternate matrixes.

A further object is to provide an improved shuttle having a simple,fool-proof tool gripper arrangement.

Another object is to provide means for supporting the dual matrixes andthe shuttles of the tool changer apparatus from the machine toolheadstock.

Other objects will appear from the following description taken inconnection with the accompanying drawings,

wherein:

FIGURE 1 is a front perspective view or" a machine tool with toolchanger apparatus, constructed in accordance with the present invention;

FIG. 2 is a fragmentary horizontal plan view taken substantially in theplane of lines 22 in FIG. 1, to show the dual matrix and shuttles;

FIG. 3 is a fragmentary elevational view of the shuttle mechanism forone matrix and support for the shuttle, taken substantially in the planeof lines 3-3 in FIG. 2;

PEG. 4 is a vertical sectional view of one matrix and drive;

FIG. 4A is a fragmentary front perspective showing the matrix housingwhich is broken away in FIG. 1;

FIG. 5 is an enlarged fragmentary side elevational view of the shuttleand track taken substantially in the plane of lines 55 in FIG. 2;

FIG. 6 is a fragmentary bottom plan view of the shuttle and track asshown in FIG. 5;

FIG. 7 is an enlarged fragmentary sectional view of the air actuator forthe tool gripping elements on the shuttle, taken substantially in theplane of lines 7-7 in FIG. 5;

FIG. 7A is an enlarged fragmentary perspective view 3,22%,462 PatentedAug. 1?, 1965 looking at the end of the gripping elements forming onearm;

FIG. 7B is an enlarged fragmentary s ctional view to show the connectionfrom the air actuator to the gripping elements;

FIG. 8 is an elevational view of the end of the spindle;

FIG. 9 is a fragmentary longitudinal sectional view of the upper end ofthe spindle and spindle chuck actuator;

FIG. 10 is a fragmentary longitudinal sectional view of the lower end ofthe spindle illustrating the spindle chuck;

FlG. i1 is a stop-motion view illustrating the operation of the toolgripping elements on the shuttle;

FIG. 11A is a stop-motion view also illustrating the operation of thetool gripping elements;

FIG. 12 is a diagrammatic view illustrating the tool change cyclesequence; and

MG. 13 is a schematic illustration of a hydraulic control circuit forthe tool changer apparatus.

While the invention is susceptible of various modifications andalternative construction, a preferred embodiment thereof has been shownin the drawings and will be described below in detail. It should beunderstood, however, that there is no intention to limit the inventionto the specific form disclosed, but, on tie contrary, the intention isto cover all modifications, alternative constructions and equivalentsfalling within the spirit and scope of the invention as expressed in theappended claims.

GENERAL MACHINE ORGANIZATIGN Referring to the drawings, the inventionwhile applicable to machine tools generally is illustrated in the formof a vertical spindle machine with tool changer apparatus. As shown moreparticularly in F6. 1, the machine tool comprises an upright column 16fashioned with vertical ways 12 slidably supporting a headstock 14having a vertically movable spindle in, and a bed 1% for slidablysupporting a table 2% on which a workpiece is adapted to be carried formachining purposes. The work table Zll is slidably supported forhorizontal movement on a saddle 22 to move the workpiece and therebyachieve relative motion between a cutting tool in the spindle l5 andworkpiece on the table in the conventional Y direction. The saddle 22 ismovable longitudinally to move the table 2% and thereby the workpieceand spindle mounted cutting tool relative to each other in theconventional X direction. Table and saddle feed screws for achievingtable and saddle feed are preferably power operated through appropriatevariable speed drives. Raising and lowering of the headstock of thedrilling machine by power along the vertical ways 12 of the column foradjustment purposes may be achieved by a power driven elevating screw24. The vertically movable spindle i6 is movable by power to providerelative movement between the cutting tool and workpiece in theconventional Z direction by a power feed drive means herein shown inFIG. 10 as incmding a rack 26. Such table, saddle and spindle feeddrives may be numerically controlled from a suitable source ofprogrammed data to provide three axis control of relative workpiece andcutting tool position.

I11 addition to the foregoing components, the machine tool of thepresent invention includes stora e means for tools which are adapted tobe received in the spindle and tool changing means for transferring suchtools between the storage means and the spindle. Still referring to FIG.1, storage of tools is achieved in a unique and particularlyadvantageous way that contemplates simultaneous transfer of (l) aselected tool to the spindle and (2) return of the tool in the spindleto storage, thereby to achieve a rapid tool change cycle that willinvolve little or no loss of time in the high-production operating cycleof the machine tool. To this end, tool storage is provided by dualmatrixes 3t 32 supported on the opposite sides of the vertically movableheadstock 14. Each matrix (30 or 32) is rotatable about a vertical axisspaced a subtantial distance to the side of the axis of the spindle 16.Also referring to FIG. 2, such matrixes, in keeping with the invention,each define an annular ring of individual tool support elements (304 to3tlN and 32-1 to 32N). Power means are provided as shown in FIG. 4 torotate the annular matrixes 30 or 32 during a search step under manualor automatic control to position the individual tool support elementssuccessively adjacent a tool transfer station, and to stop the matrixwith a selected tool at such station whereby the selected tool may betransferred from matrix to spindle.

For transfer of tools between each matrix and the spindle, means areprovided in the form of a horizontally movable shuttle 34 or 36 havingmeans for holding a tool during the transfer operation. With separatematrixes each having a shuttle, it become possible to control the toolchange cycle so that one shuttle returns the old tool from the spindleto one matrix, while the other shuttle transfers a selected tool fromthe other matrix to the spindle. A more rapid tool change cycle becomespossible utilizing the same time period for transfer of a new tool tothe spindle as for return of the old tool from the spindle to the othermatrix. It will be appreciated that this machine tool is adapted fornumerically controlled operation, and that the steps of tool search,tool return and new tool transfer may be programmed steps in suchoperation as portions in any sequence of the tool change cycle, althoughthe invention is not restricted to such an operating mode and is equallyapplicable to manually controlled machine tools.

DUAL MATRIXES Referring more particularly to the matrixes 3t and 32 fortool storage, such are substantially identical in construction exceptfor being of opposite hand, and the following description of theleft-hand matrix 30 (as viewed in FIG. 1) is thus also applicable to therighthand matrix 32. The matrixes are supported on either side of theheadstock 14 by horizontally projecting housings 38, 49 respectively. Asshown in FIG. 4, the matrix housing 38 supports a vertical, rotarymatrix spindle 42 having an end portion projecting downwardly below thehousing on which an annular matrix drum 44 is fixed. Each such drum isformed in the present case in a manner to provide a light yet rigidstructure for carrying a large number of tools, by securing as bywelding 21 circular rim 46 around a pair of spaced annular plates 48,50. The upper edge of the rim 46 projects upwardly of the top annularplate 56, and with a circular collar 52 also fixed to the top plate 50,serves as means for carrying a flat ring 54 on which individual toolsupport elements 36-1 to 30-N are arranged equally spaced around theoutside of the matrix drum 44.

At the center of each matrix drum 44 a bushing 56 is fixed thereto byany suitable means and to the projecting end of the matrix spindle 42.The end of the spindle 42 is threaded to receive a nut 58 which retainsthe bushing and drum from dropping off the spindle. Each drum andspindle are rotatable by means herein shown as a gear drive 66 mountedwithin the respective housing and connected to a hydraulic index motor62. A releasable connection such as that afforded by a multiple discelectric clutch 64 between the motor and pinion shaft 66 serves toconnect the motor to rotate the matrix. A continuous indication ofposition of the matrix is afforded for control purposes by means such asa signal generator or resolver 68 also supported in the housing andconnected to the matrix spindle 42 through gear '1' 0.

Turning also to FIGS. 2 and 4, for further details of the matrixequipped tool support elements, it will be seen such elements 304 to3ti-N are carried by a flat ring 54 and extend outwardly thereof tosupport the a forked or C-shaped body 71 providing a pair of radiallyoutwardly extending fingers 72 which fit on either side of the shank ofa tool to support the tool from the matrix.

Tool adaptor One of the features of the present invention revolves aboutthe provision of a simple and fool-proof mechanism for gripping eachtool while in the matrix and during the transfer operation by a shuttle.This mechanism involves a radially projecting flange 73 on the shank ofthe tool assembly, herein shown as provided by a tool adaptor Afurnished for each tool. The tool adaptor A also provides a taperedshank 74 adapted to be received in the socket of the machine toolspindle 16. The taper of the shank 74 is preferred to be of the standardmilling machine or non-sticking type to permit ready insertion andextraction of the adaptor in the machine tool spindle. Referring brieflyto FIG. 10, which illustrates the lower end of the spindle 16, the shank74 of each adaptor A is provided with an annular V-shaped ridge 76 whichis adapted to cooperate with radially inwardly movable jaws 78-1 to 78 4of a power chuck 80 in the spindle 16, the details of which are setforth in a later section. For present purposes, it is suflicient -tonote that adjacent the open end of the spindle 16 four such jaws 781 to78-4 are mounted in radial slots 82-1 to 82-4. The inner facing ends ofthe jaws are formed with V-shaped notches' 84 which are adapted toreceive the annular V-shaped ridge 76 of a tool carrying adaptor A. Suchjaws 78-1 to 78-4 are power actuated inwardly to engage the slopingforward surface 82' of the notches 82 in the jaws with the matingsurface of the ridge 76 so that upon such inward movement of the jawsunder power the tool adaptor A is forced by the resulting cam actionbetween the mating inclined surfaces to seat the tapered shank 74 in thespindle socket.

Each tool adaptor A is also formed with a multiple tool external clutch86 immediately behind the flange 73. The external teeth of this clutch86 are spaced to engage with mating internal teeth of a spline 88 (FIG.10) formed on the end of the tool spindle 16 to serve as a positivedriving connection between the tool adaptor A and the spindle. Ininserting a tool adaptor A into the spindle 16, the external teeth ofthe clutch 86 on the adaptor are engagedwith the internal teeth of thespline 88 on the spindle, and the shank 74 of the adaptor A is insertedfar enough into the spindle 16 to place the ridge 76 on the shankopposite the notches 84 in the chuck jaws 78 whereupon the latter uponbeing power actuated seat the adaptor solidly in the, spindle and lockit in place.

In addition to the features cooperating with means on the spindle 16,each adaptor A is also formed with a circular projecting flange 73, theunderside of which (as viewed in FIG. 5) is grooved to provide adownwardly projecting latching lip 90. Such latching lip 96 cooperateswith means on the matrix 30 or 32 associated with each tool supportelement for latching a tool in place against accidental removal.

Matrix latch Latching the tools in the matrix is achieved in the presentinstance with a latch mechanism 92 mounted on each tool support elementof both matrixes. To receive the latch mechanism as shown in FIG. 3which is a view looking at the back of the shuttle,'track and toolsupport elements as seen from inside the matrix, the back of the bodyportion 71 of each tool support element is cut or notched out and thelatch 92 is supported within the cavity 94 thus provided below aretainer plate 96 which extends across the upper exposed end of thecavity 94 being fastened to the body of the support element by spacedmachine screws 96'. The latch 92 illustratively includes a finger )8having a forwardly and upwardly projecting hook 98', as seen in FIG. 5.Such finger 98 is fixed to a shaft 1192 which is slidably supported forvertical movement in aligned bores in the retainer plate 96 and matrixring 54. A spring 1414 trapped between the latch finger 98 and thematrix ring 54 tends to lift the latch finger to an upward closedposition, in which position it is shown in FIG. 5. The hook 93' on thelatch finger 98 in combination with the underside of the retainer plate96 forms a recess into which the latching lip 96 on an adaptor flange 73may easily enter. The latch finger 93 presents a sloping cam surface 98which is engaged by the entering adaptor flange 73 to move the fingersdownward and facilitate such entry. With the latch finger 98spring-biased to closed position the lip 9d and hook 93 cooperate tosecure the adaptor A within the fingers 72 of the tool support element,the flange 73 on such adaptor resting on the fingers to support thetool. Release of the tool assembly is achieved by moving the latch shaft1il2 downwardly and for the purpose of actuating this shaft, the upperend 1% thereof is beveled and extends above the fixed retainer plate $6where it may be engaged and forced downwardly by a suitable cam MS,which in the present case is mounted on the tool shutle.

Matrix positioning (at tool transfer station) For support of theshuttles 3 1, 36 for horizontal movement between the matrixes 30, 32 andthe tool spindle 16, a track 110, 112 is fixed above each matrix to theheadstock. Referring particularly to the left-hand matrix 361 shown inFIG. 3, the track 110 extends substantially radially of the matrix 30from a position toward the center thereof outwardly past the ring of thetool supports toward the spindle. The tool transfer shuttle 34 takes atool which the matrix has rotated to a position under the track 111 atthe tool transfer station, from such station to the spindle. The toolsupports 32-1 to 32-N are numbered consecutively, for example, eachmatrix as shown has twenty tool support elements such that twenty toolsmay be supported thereon. A tool support on the matrix 30 is moved (byrotating the matrix via its power drive) to approximate verticalalignment with the shuttle track 110 to position the tool for transfer.A convenient and novel means for obtaining final accurate alignment ofthe matrix with a tool carried by a tool support thereof at the tooltransfer station or position is provided in the present case by means onthe shuttle which as an incident to its movement past a tool atapproximate transfer position or station engages and cooperates withmeans on the matrix 30 to move the matrix into final alignment. How thisis achieved may be seen by referring to FIG. 2. Adjacent the backside ofthe tool supports Edi-1 to Fail-N are pairs of upwardly extendingrollers 114-1 to 114-N which are carried by the matrix ring 54. Thefront end of the shuttle 34 is provided at each side with a taperedprojection 11%, 120 which presents inwardly facing inclined stopsurfaces 118', 12% and outwardly opposed carn surfaces 118", 12b. Theinwardly facing stop surfaces 11%, 120 are adapted to engage the flange'73 of an adaptor A of a tool in a tool support of the matrix at thetransfer station, as the shuttle moves along the track from its positioninward of the periphery of the matrix, toward the transfer station topick up such tool. The outwardly opposed cam surfaces 118", 1219" areadapted to engage single rollers 114-1, 114-3 of the roller pairsassociated with the adjacent tool supports lid-1, Sid-3 respectively, asan incident to shuttle movement. It will be seen from FIG. 2 that theoutwardly opposed cam surfaces upon engagement with such rollers 114-1,114-3 will turn the matrix through a small angle which is free to rotateto a' final aligned position. Furthermore, the outside surfaces 122, 124of the shuttle serve as a shot pin to maintain accurate alignment and tolock the matrix in the selected tool transfer position while the shuttlemoves forwardly other arrangements may be suitable, as seen in FIG. 2,it is preferred to allow a little clearance between the inner sides ofthe shuttle and the inner rollers 114-2 to avoid interference and toguide on the outer set of rollers made up of one roller from eachadjacent pair 114-1 and 11 1-3. The length of the shuttle is such thatthe guide surfaces thereof will overtravel the rollers when the shuttleis in its forward position carrying a tool under the spindle. in thisforward position, the tool support blocks 71 on the matrix interfit withthe inside surfaces 122, 124- of the shuttle sides to prevent the matrixfrom drifting out of position.

TOOL TRANSFER SHUTTLES With either matrix 31%, 32 positioned with a newor selected tool at the respective transfer station, a tool transfermeans is operable to pick up a tool at such transfer station and move ittoward the spindle 16. The present invention provides for this purposethe linearly movable tool shuttles 34, 36. Such shuttles are supportedby and movable along a fixed track 110, 112 which at the spindle end ofthe track is secured to the underside of the headstock by means such asscrews 126 and at the other end is secured to the side of an arm 127 bymeans such as a bracket 128. This bracket 128 affords adjustment of theend of the track 114 so that it may be aligned between the vertical axisof the tool spindle 16 and the axis of the matrix. It is well to keep inmind that while this description is directed toward the left-hand matrix30, the left-hand shuttle 3 1, and its track 110, the righthand matrix32, shuttle 36 and track 112 therefor are similar and the descriptionapplies equally.

Each shuttle 34, 36 is formed of a pair of side plates 139, 132 (FIG. 6)which are suspended from rollers 134-1 to 13 1- 1 carried on the top ofsuch side plates 13(1, 132 on the inner facing surfaces thereof andlocated to roll along the upper marginal edges of the track 110. Suchvertically extending side plates 13%), 132 are connected a substantialdistance below the track by a horizontal member 136 spanning suchplates, with a portion of such side plates extending below the spanningmember toengage the rollers 114-1, 114-2, 114-3 on the matrix flange andto straddle the tool support Sit-2 at the transfer station while thespanning member 136 which is raised clears such tool support.

To retain the shuttle 34 on the track and limit vertical play thereof, apair of rollers 138-1, 133-2, one on the inner surface of each sideplate 13%, 132 are positioned to directly engage the undersurface of themargins of the track 116, and such rollers are provided with eccentricadjustment so that they may be moved into firm abutment with the trackand held in such abutting position to eliminate vertical play andthereby retain the shuttle so that it moves smoothly without jumpingaction along the track.

To move the shuttle, power means are provided, herein shown as ahydraulic cylinder 140 the body of which is fixed adjacent the undersideof the track 119. The piston rod 142 of the cylinder Mil is attached toa driving yoke 144 which rotatably supports a pinion gear 146. The uppersurface of the yoke 144 is longitudinally slotted to receive adownwardly facing rack 148 which meshes with the pinion 146 and is fixedto the track so that the sides of this rack 14 serve as a guide for theyoke 144 in its longitudinal movement under power from the cylinder 14a.The pinion 146 also meshes with an upwardly facing rack 15@ fixed to theshuttle 34, such that longitudinal movement of the yoke 144 under poweralong the fixed rack 148 rotates the pinion 146. R0- tation of thepinion 146 moves the shuttles 34 via the shuttle rack 150 and at twicethe speed of the piston rod 142 and yoke 144 carried thereby.

Shuttle tool grippers In order to hold a tool during the transferoperation of a tool change cycle, each shuttle is provided with meansfor gripping a tool by means of its adaptor A. It will be recalled thatthe tool adaptors A are provided with a projecting flange 73. In keepingwith the present invention, the gripping means on the shuttle includesas shown in FIGS. 2 and 5 spaced gripping arms 154 which are located tostraddle this flange 73 on a tool adaptor A and to grip the tool adaptorby means of the flange. This will be more readily observed in connectionwith FIGS. 5 and 6 which illustrate that the shuttle 34 has grippingmeans herein shown as a pair of forwardly projecting arms 154 which asappears in FIGS. 2 and 5 will straddle the adaptor A of a tool carriedby a matrix tool support 30-2.

In keeping with the present invention, the gripping means on the shuttle34 is operable to engage or to release the adaptor A of a tool uponrelative movement between the shuttle and the adaptor in either of twodirections: (1) radially of a tool adaptor or (2) axially of a tooladaptor. This is achieved in the present case by forming each arm 154which extends forwardly from the shuttle of two elements 154-1, 154-2which extend horizontally and are arranged one on top of the other, andwherein one of such elements is more flexible than the other. The arms154 formed by these elements while projecting forwardly of the shuttle34 also have portions which extend along the sides of the shuttle, theouter surfaces of the side of the shuttle side plates havinglongitudinally outwardly facing recesses 155 to receive such elements.

While both gripping elements forming each arm 154 are flexible, thelower gripping element 154-1 is made rather slender and more limber sothat the set of such opposite elements 154-1 may be forced apart bypower a substantial distance and returned from such position by theinherent flexibility of the elements in order to engage and release theflange 73 on a tool adaptor A in cooperation with the companion,relatively more rigid,

less flexible upper set of gripping elements 154-2. This is shown byFIG. 11 which is a stop motion view illustrating the operation of thearms. It will be seen also from this view that the upper set of elements154-2 is sufficiently flexible to be urged apart mechanically, as in thecourse of movement of the shuttle toward the tool transfer station, topick up the tool. For spreading the upper elements upon mechanicalengagement with the adaptor flange 73, as shown in FIG. 7A each suchelement 154-2 has a camming surface 156 leading toward the tip whichupon engagement with the curved flange 73 of an adaptor, cams such upperelements apart so as to slide around such flange. The lower set ofgripping elements 154-1 are shown in an inner closed position in FIG.7A, and in this position provide a seat 157 on which the flange 73 of anadaptor rests after the upper elements have slid around the flange. FromFIG. 7A it will also be clear that the elements of each arm togetherdefine an opening at the tip of the arms in which the flange of anadaptor will be guided both vertically and horizontally by alignmentbevels 156-1, 156-2, 156-3. As appears in FIGS. 5 and 7A, the upperelements 154- 2 together define an opening having a smaller section 158which is concentric with the shank of a tool adaptor A, and a largerdiameter section 158-1 which conforms to the outer edge of the flange 73on the adaptor A.

Referring to FIGS. 7A and 11A, it will be observed that the lowerelements 154-1 may be cammed apart by the vertical movement of theflange 73 in an adaptor to return a tool adaptor to the gripping arms ofthe shuttle. For this purpose the lower elements 154-1 together define asurface 159 in the form of a frustrum of a cone with the larger sectionof the cam opening downwardly. Such elements 154-1 having a surface 159inclined downwardly and outwardlyare cammed outwardly upon engagementwith such surface of the flange of a tool adaptor A upon movement of theflange upwardly between such arms, as seen in FIG. 11A, upon upwardmovement ofthe adaptor A and tool by the spindle during the tool changecycle. This is diagrammatically depicted as step 4 of FIG. 12.

It will thus be seen that both elements of each gripping arm 154 arespread apart to pick up and release the adaptor A of a tool, and forthis purpose are flexible. Briefly reviewing the dilferent steps of thetool change cycle where this feature is involved, referring to FIG. 11,it will be recalled that to start the tool transfer operation theshuttle 34 moves forwardly to pick up a tool in the matrix 30 so as tocarry the same forward to the spindle 16 (steps 1-4) and as an incidentto such movement (step 4) the shuttle releases the matrix latchmechanism 92 and substantially simultaneously will engage the tooladaptor A. The upper tool gripper elements 154-2 will be spread apart(steps 3, 4) sufficiently to slide around the adaptor so that the armwill straddle the flange 73 of the tool adaptor A with the adaptorflange 73 resting on the seat 157 provided by the lower elements. Havingreleased the matrix latch mechanism 92, the shuttle 34 is then free tomove along the track 110 to transfer the selected tool from the matrix30 into a position in longitudinal alignment with the spindle 16.

With dual matrixes 30, 32, and separate shuttles 34, 36 for transferringtools to and from the spindle 16 and such matrixes, a wide variety ofdifferent sequences may be carried out in a tool change cycle. FIG. 12,however, illustrates a typical cycle which takes advantage of theseparate matrixes and shuttles and utilizes such to permit a rapid toolchange cycle. In this cycle in steps 1 and 2, the tool is carried toposition in axial alignment with the spindle 16, and the spindle 16 ismoved downwardly so that the shank of the tool adaptor A is received inthe spindle socket. At this point in the cycle a power chuck is operatedto secure the adaptor in the spindle.

Thereupon the lower set of gripping elements 154-1 are spread apart bypower means so as to permit the tool adaptor flange to escape upondownward movement, as depicted in step 5 of FIG. 11, so that the spindle16 may be moved downwardly to position the tool in cutting engagementwith the workpiece. As soon as the tool adaptor flange has been moveddownward from between the gripping elements 154-1, power to suchelements is cut-01f and they spring back to their normal position inwhich they straddle the spindle 16, as shown in FIG. l'lA for example,having clearance therewith so that the spindle is free to rotate.

SPINDLE POWER CHUCK Now referring to FIGS. 9 and 10, as mentioned abovethe spindle is equipped with a power chuck that serves to secure thetool adaptor A in the spindle. From the diagrammatic illustration inFIG. 12 of the operating cycle of the drilling machine tool, it will beclear that the shuttle 34 carries a selected tool element during thetransfer phase of the tool change cycle, to position in axial alignmentwith the spindle. The spindle is then moved downwardly -to receive thetool adaptor, and in connection with this operation the power chuck isoperated to seat the tool adaptor A solidly in the spindle socket and tolock the adaptor in place. Cutting operations are carried out bylowering the spindle 16 to engage the cutting tool with the workpiece,Without withdrawing the shuttle, the gripper arms 154 on the shuttle 34having clearance with the cylindrical outer surface of the spindle.

To this end, the spindle as shown in FIGS. 9 and '10 is rotatablymounted by bearings 172, 174 within a sleeve 176 which in turn istranslatably supported within the headstock 14 for axial projectiontherefrom. For a more detailed description of means for feeding and forrotating the spindle 16, reference may be made to copending applicationof Reichert and Lehmkuhl, Serial No. 136,703, filed September 5, 1961,entitled Radial Drilling Machine and Counterbalance Therefor. While therotatable spindle 16 in said application is shown in connection with aradial drill, the drive and feed means for the spindle is generallyapplicable to the spindle in the present upright drilling machine tool.in general, translation of the spindle 16 is achieved by means such as arack and pinion drive, the rack 26 thereof being provided along an upperportion of the sleeve are. Rotary drive of the spindle 16 within thesleeve 1% is achieved by gear means engaging external gear teeth 1 0$(FIG. 9) on an upper portion of the spindle.

Still referring to FIGS. 9 and for details of the power chuck 8t) forreleasably securing a tool adaptor A in the tapered socket of thespindle, in the present case, the chuck 8t) is powered by compressed airsupplied from a suitable source through a fitting i132 mounted at theupper end of the rotatable spindle f6 and a conduit 134; leadingdownward from the fitting 132 through the center of the spindle to thepower chuck fill at the lower end thereof leads compressed air via suchfitting to the power chuck. Passages 1% in the lower end of the spindleconnect the conduit 134 to an annular recess 185 which, with asleeve Utlfitting over the spindle, forms a cylinder housing a chuck actuatingpiston 1%. A drive plate I194 attached by pins 1% to the front end ofthe spindle and to the sleeve it? closes the end of the recess 1%.

Radial slots 1984 to W8 four of which slots are shown in the drive plate1%, align with radial slots Ni -l to l -d in the front end of thespindle 16. Chuck jaws '78-1 to 7&4 are slidably retained in the alignedslots for radial movement. To actuate the jaws 7i; and force theminwardly an annular actuating piston 202 is provided which carries fourforwardly extending projections 2612-1 to 262 9- which have inclined camsurfaces 2i 2l' to 2324 adapted to engaged inclined surfaces on the jaws73-1 to 78-4 and thereby provide a cumming action to force such jawsradially inwardly. The inner ends of the jaws are formed with V-shapednotches $4, as mentioned hereinbefore, adapt to engage the annularV-shaped ridge '76 on the shank of each tool adaptor A. Upon beingforced inwardly by the actuating piston 292, the jaws '7 8-1 to 78-4 viathe forward inclined surfaces of the V-shaped notches h t in the endsthereof engage the mating inclined surfaces on the V-shaped ridge 7s ofthe tool adaptor A to move the adaptor upwardly in the spindle socket toseat the adaptor and lock it therein.

In order to permit a tool adaptor A to be inserted into the spindlesocket, and to be removed therefrom, means are provided to return theactuating piston 23% and thereby remove any actuating force from thejaws 3. Such return means are herein shown as springs 2% located betweenthe piston and driver plate. The jaws 78 are free to slide so that thelatter will be cammed outwardly by direct engagement with the ridge inon a tool adaptor A, as for example upon downward movement of thespindle 16 toward an adaptor A positioned below the spindle, asdiagrammatically depicted in step 2 of FIG. 12. Similarly, upon raisingthe spindle in above an adaptor A held thercbelow, as in step 5 of MG.12 the jaws 73 will be pushed outwardly so as to permit separation ofthe spindle from the adaptor.

MACHlNE TOOL GPERATING CYCLE Before turning to an illustration of aspecific operating sequence of the machine tool including tool changecycle, it will be understood that a wide Variety of different specificsequences may be followed to suit the machining steps involved, theparticular tools, or to account for other factors. In general, however,it is to be noted that in accordance with the invention, dual matrixcs3d, 32 are provided so that tools may be taken alternately from one andthen the other matrix, shortening the overall period of the tool changecycle because different steps thereof may be carried out simultaneouslyusing both shuttles 34, as.

For example, as shown in FIG. 12, in step 5 both shuttles are beingemployed for simultaneous transfer of a selected tool from the left-handmatrix 3%) to the spindle 16 by one shuttle 3 3-, and return by theother shuttle 36 of the tool used in the previous machining cycle to theright-hand matrix 32; The next subsequent tool change cycle may involvesearch of the right-hand matrix, during the prior machining step, andtransfer of the selected tool from such right-hand matrix to thespindle, shown as step 1 in FIG. 12.

Still referring to FIG. 12, step 1 shows the spindle 16 fully retractedwithin the headstock l4- and the selected or new tool after beingcarried forward by the right-hand shuttle to the spindle transferposition in axial alignment with the spindle.

Referring now to the stop motion view FIG. 11 step 1 of this figureillustrates a shuttle (34 or 36) during an initial stage of its forwardmovement from a fully retracted position behind the tool transferstation of the associated matrix 30 or 32. As the shuttle advances underpower, the projections 113, 12%? engage certain ones of the guiderollers 114-1, 14-2, lid-3 on the matrix and thereby accurately alignthe latter as an incident to the shuttle movement as shown in step 1 andstep 2. Both sets of elements 11544., 1544 forming the gripping arm thenengage the flange 73 of an adaptor A of a tool carried by the toolsupport (fail-N or 32-N) at the transfer station. Such engagement causesthe arms 154 to spring apart, as shown in step 3, until the insidesurfaces 11%, 126 on the projection or guide on the shuttle move intoabutment with the flange and, as shown in step 4, the arms return intoembracing relation with the flange on the adaptor A. At this point inthe forward advance of the shuttle the latch mechanism 92 on the toolsupport is released by the actuating cam 1% on the shuttle, thereby torelease the adaptor A and tool to be carried forward to the spindle to,as shown in step 5.

To insert the tool adaptor A carrying the selected tool into the spindlesecret, the spindle is lowered as shown in step 2 of PEG. 12 byactuation of the spindle feed. When the spindle is in position to clampthe tool adaptor A, as shown in step 2 of FIG. 12, the power chuck isoperated.

it will be appreciated that the construction of the gripper elements154-1, 354-2 of the shuttle eliminates the necessity of operating suchgripper elements by power means except for the immediately succeedingstep involving release of the tool adaptor A for movement of the spindledownward toward the workpiece, as shown as step 3 in FIG. 12. Theprocedures of pick up of a tool adaptor at the tool transfer station bythe shuttle and dropping off a tool adaptor at such station upon returnof the shuttle is achieved without power actuation of the gripper elemnts, but merely by mechanical actuation of such elements throughengagement with the tool adaptor flange 73 as an incident to linearshuttle movement causing the elements to spring apart around the flange,as shown in l lG. 12.

Referring now to FIGS. 7, 7B and 12, to actuate the lower set of gripperelements 154-1 on each shuttle 34 or 36 to release the adaptor A formovement as in step 3 of FIG. 12, means are provided on each shuttleherein shown as a pair of opposed air actuated pistons 210, 212. Suchpistons are received in a horizontal cylinder 214 defined in the body ofthe respective shuttle and located a substantial distance above thegripping arms 1554. Movement of each piston 2E6, 212 is conveyed toactuate one gripping element of the lower set 1544 by a vertical rod215, are which is journalled in a bore perpendicular to and intersectingwith the recess 155 in the side of the shuttle that receives theassociated gripping element. The rod 215, are has a relieved section215', 216 adapted to clear the upper gripping element 154-2. It also hasa cam section 215', 21%" adapted to engage the lower gripping element154-1 and move the same upon rotation of the rod.

In the present case the rod 215, 216 is adapted to be oscillated throughan angle of approximately 60 by the associated actuating piston 23 10,212. Each piston is provided with a land 22%, 222 which is received in acut-out section 224 of a ring fixed to the motion transmitting rod 215,215 to provide a connection which translates motion of the piston tooscillation of the rod.

Upon admission of pressure fluid between the pistons 210, 212, thelatter will be forced outwardly thereby causing lower set of grippingarm elements 154-1 to be power spread as shown in FIG. 7B, and in brokenlines in step of FIG. 11.

Accordingly, with the spindle lowered to position the cutting tool inengagement with the workpiece as shown in step 3 of FIG. 12, the spindledrive is started to rotate the spindle to perform the cutting operation.

At the compeltion of such cutting operation, the spindle is retracted asshown in step 4, FIG. 12. The lower set of gripper elements 154-1 arecammed apart (as shown in FIG. 11A) upon engagement by the flange 73 onthe tool adaptor A with the conical camming surface defined between suchlower set of elements, to snap the flange '73 through the bottom set ofelements against the upper set of elements 1544 and thereby lock theadaptor A within the gripping arms.

With the left-hand shuttle 34 fully retracted in steps 1, 2 and 3 ofFIG. 12, the left-hand matrix 30 may be searched for a new tool,according to programmed data and under the direction of a numericalcontrol system. The matrix during such search step will be rotated toposition the tool support at the programmed location No. 1 to No. 20, inthe transfer station as shown in step 4 of FIG. 12, with the selectedtool in the particular location ready for transfer by the left-handshuttle to the spindle. This is shown in step 5 of FIG. 12 which depictsthe right-hand shuttle being retracted to return the old tool to thematrix, and the left-hand shuttle at its forwardmost position with thetool carried thereby in axial alignment with the spindle.

Referring now to FIG. 13, a diagrammatic illustration of a controlcircuit for the apparatus, an operation sequence will be brieflysummarized. The machine tool is ready for automatic operation after thetape or other record of programmed data is placed in the controlapparatus, and the tools required for a particular program of machiningoperations are loaded in the matrixes. To insert tools in each matrix,access is provided to the tool supports 3tt-N, 32-N thereof through thematrix cover 226 (FIG. 4A) which has a hinged portion 227 that may beswung away to provide an opening. To release the latch mechanism 92 of atool support 30N positioned at the access opening, and thereby permit atool to be removed from such support, a lever 228 which projects throughthe cover 226 is provided, such lever being manually operable to move anactuator 229 down into engagement with the upper end 196 of the latchshaft 192, to open the latch and release a tool adaptor A. With the oldtool removed, a new tool may be placed into the tool support, and thematrix rotated manually or by power to position a different tool supportadjacent the opening until both matrixes have been loaded with therequired tools.

Assuming that the tape calls for the tool change from the right-handmatrix 32 in a given operation sequence,

the resolver 68R through a suitable circuit energizes one or the otherof a pair of rotary direction solenoids CS or CCS which via solenoidvalves CSV or CCSV actuate the indexing motor 62R by connecting suchindexing motor to a source S of pressure fluid to rotate the matrix 32clockwise or counterclockwise to move the selected tool toward thetransfer station. This resolver 68R and circuit also energizes a ratesolenoid RS until the matrix nears final position, whereupon theresolver 68R deenergizes the rate solenoid RS thereby forcing returnfluid from the indexing motor through the return line RL to flow to theslow speed relief valve RV which is set to throttle the return flow toslow down the speed of rotation of the matrix 32. Control valves CV1 andCV2 provide means for adjustment of fast matrix rotational speed.

When the selected tool reaches preferably approximately a degree or lessof the desired position the resolver 68R is satisfied and deencrgizesthe direction solenoid CS or CCS. The clutch 64R between the hydraulicindexing motor 62R for the right-hand matrix 32 is also energized fromthe resolver 68R during the period of rotation of the right-hand matrixtoward final position to locate the selected tool at the tool transferstation. With the matrix located within a degree or less of the desiredposition, and the spindle raised to actuate an upper limit switch LS1,the electric clutch 64R will be deenergized and the matrix will thus befree to rotate through the remaining angle to its final position as anincident to the movement of the shuttle toward the selected tool.

With the matrix approximately at its final position, the right-handshuttle will be moved to engage in the transfer operation uponenergization of the cylinder speed control solenoid CSCS for theright-hand shuttle. Energizing this solenoid CSCS causes the associatedsolenoid valve CSCV to connect fluid pressure from the source S to thepower cylinder 140R for the right-hand shuttle, thereby moving theshuttle toward the spindle 16. The shuttle will pick up the selectedtool at the tool transfer station and carry such tool into position inaxial alignment with the spindle 16. As the shuttle reaches the end ofits stroke, a switch LS2 is tripped. Operation of the switch LS2 throughthe control circuit energizes the drive for lowering the spindle 16,thereby moving the spindle down toward the tool held below the spindleby the righthand shuttle.

As shown in FIG. 13, the spindle in its downward movement will engage alimit switch LS3 which through the control circuit causes a power chucksolenoid valve PCSV to be actuated to connect the power chuck of thespindle to a source of air under pressure. Actuation of the power chuck80 will cause the tool adaptor A held by the right-hand shuttle to beclamped in the spindle. Through sequence valve means SVl or the likealso connected to the air supply, air under pressure is conveyed via acontrol valve GV to the actuating pistons 210, 212 for the lower set ofgripping elements 154-4 of the shuttle, thereby opening these elementsallowing the spindle and tool to move down for the work cycle. A limitswitch LS4 also actuated by the spindle upon its downward movement willdcenergize the solenoid GS, thereby deactuating the control valve GV andallowing the gripping elements to return to closed position.

After the work cycle is completed, the spindle 16 will move upwards uponactuation of the drive for elevating the spindle, and if a tool changeis called for by the control system, the flange 73 on the adaptor A ofthe tool held in the spindle will be snapped through the bottom set ofgripping elements 1544 against the upper set of such elements 1542. Inthis position one of the limit switches LS3 associated with the spindlewill be tripped, actuating the power chuck solenoid valve therebyreleasing the power chuck. The spindle will continue upward to trip theupper limit switch LS1. With a tool change called for, the hydraulicconnections to the right-hand cylinder R will be reversed so as to movethe piston therein in the reverse direction and return the right-handshuttle toward its matrix. This is achieved by deenergizing the cylinderspeed control solenoid CSCS for the right-hand shuttle. At the sametime, the cylinder speed control solenoid CSCSL for the left-handshuttle will be energized to connect pressure fluid to the cylinder 140Lso as to move the left-hand shuttle toward the spindle. With a toolchange called for, thus, the associated cylinder speed control solenoidsCSCS and CSCSL will be deenergized and energized respectively to movethe right-hand shuttle and the left-hand shuttle substantiallysimultaneously relative to the spindle and associated matrixes. Theleft-hand shuttle will proceed through a sequence to pick up a tool atthe tool transfer station. This presupposes that with a tool changecalled for, the control circuit will have caused the 1eft-hand matrix tomove the selected tool to approximately the tool transfer station,whereupon the left-hand matrix will be finally aligned by the shuttle inthe course of its movement toward the spindle.

The right-hand shut-tle will return the old tool from the spindle to theright-hand matrix, placing it in the tool support at the tool transferstation.

The left-hand shuttle will position the new tool under the spindle 16,and the limit switch LS5 associated with the left-hand shuttle will betripped to cause the spindle to start its cycle of motion.

If machining is complete and no tool change is called for when the upperlimit switch LS1 is actuated upon elevation of the spindle, the controlcircuit will cause the cycle of operation to terminate. With bothcylinder control solenoids deenergized, the shuttle will retractdepositing the last tool in the matrix. When no tool change is requiredsuch as when drilling repetitive holes of the same size the spindle doesnot elevate to its tool changing level, suitable limit switch means orthe like being provided for control purposes.

While in the foregoing description a specific sequence has beendescribed, a sequence similar to the sequence snown in FIG. 12, it willbe readily understood that the present invention contemplates otherparticular sequences may be followed and it is possible to program themachine tool to select two or more tools successively from the samematrix rather than alternately from the separate matrixes, and toprovide other variations as may be desired.

1 claim as my invention:

1. For use in apparatus for tool changing, a tool trans fer shuttlecomprising later-ally spaced vertical side walls, sets of longitudinallyaligned rollers carried by upper portions of said side walls and adaptedto movably sup-- port said shuttle for longitudinal movement along atrack with said side walls suspended below said track; parallel,resilient tool support arms carried by lower portions of said side wallsand projecting forwardly therefrom to embrace a tool therebetween andthereby hold such tool in a vertical position, each said arm includingan upper and a lower element cooperating to hold such tool therebetween;and power means carried by said shuttle and acting on the lower set ofsuch elements to spread the latter from a normal fixed spacing toreelase a tool held between said arms.

2. In a machine tool having a vertically movable spindle, a pair ofhorizontal tool storage matrixes straddling the axis of said spindle androtatable about vertical axes substantially equally spaced from saidspindle, and a tool transfer shuttle for each of said matrixes movablebodily along a horizontal linear path between a terminal point adjacentthe respective matrix and a terminal point substantially aligned withsaid spindle, each said shuttle having means for holding a tool in avertical position to insert into or withdraw a tool from the respectivematrix as an incident to movement of the shuttle and to position a toolin axial alignment with the spindle or to withdraw a tool from suchposition, said spindle being movable vertically to engage a tool held inaxial alignment therewith by one of said shuttles, and means forcontrolling said shuttles, matrixes and spindle in a tool change cyclefor replacing an old tool from the spindle in one matrix by one shuttleand for transferring a new tool from the alternate matrix to saidspindle by the other shuttle.

3. In a machine tool having a vertically movable spindle, a pair ofhorizontal tool storage matrixes straddling the axis of said spindle androtatable about vertical axes substantially equally spaced from saidspindle, and a tool transfer shuttle for each of said matrixes movablelidalong a horizontal linear path above the respective matrix andsubstantially aligned with said spindle, each said shuttle comprisinglaterally spaced vertical side walls, means carried by upper portions ofsaid side walls and adapted to movably support said shuttle, and toolsupport arms carried by lower portions of said side walls and projectingforwardly to embrace a tool therebetween and thereby hold such tool in avertical position to insert into or withdraw a tool from the respectivematrix as an incident to movement of the shuttle and to position a toolin axial alignment with the spindle or to withdraw a tool from suchposition, said spindle being movable vertically to engage a tool held inaxial alignment therewith by one of said shuttles.

4. In a machine tool, a horizontal tool storage matrix rotatably mountedabout a vertical axis, a tool transfer shuttle movable horizontallyrelative to said matrix and having means for carrying a tool into andfrom said matrix, and means on said shuttle engageable with means onsaid matrix for rotating said matrix into tool transfer position as anincident to relative movement of said shuttle.

5. In a machine tool, a ring of tool supports each adapted to releasablysupport a tool and forming a horizontal annular tool storage matrixrotatably mounted about its axis, a tool transfer shuttle movablehorizontally in a radial path reiative to said matrix and having meansfor carrying a tool into and from a tool support of said matrix, andmeans on said shuttle engagea'ble with means on said matrix for rotatingsaid matrix into tool transfer position as an incident to relativemovement of said shuttle 6. In a machine tool having a rotatablespindle, a pair of matrixes straddling said spindle each matrixsupporting a plurality of tools for movement of each of said tools to ashuttle station opposite said spindle, means including a pair ofshuttles for carrying tools between said spindle and said shuttlestations respectively, and means controlling said shuttles, matrixes andspindle in a tool change cycle for replacing an old tool from thespindle in one matrix by one shuttle and for transferring a new toolfrom the alternate matrix to said spindle by the other shuttle.

7. In a machine tool having a rotatable spindle, a pair of matrixesstraddling said spindle each matrix supporting a plurality of tools formovement of each of said tools to a shuttle station opposite saidspindle, means including a pair of shuttles for carrying tools betweensaid spindle and said shuttle stations respectively, and meanscontrolling said shuttles, matrixes and spindle in a tool change cyclefor replacing a tool from the spindle in one matrix and for transferringa new tool from the alternate matrix to said spindle, said alternatematrix being movable to locate said new tool at the shuttle stationthereof ready for transfer to said spindle prior to said tool changecycle.

8. In a machine tool having a rotatable spindle, a pair of matrixesstraddling said spindle each matrix supporting a plurality of tools formovement of each of said tools to a shuttle station opposite saidspindle, means including a pair of shuttles for carrying tools betweensaid spindle and said shuttle stations respectively, and meanscontrolling said shuttles, m-atrixes and spindle in a tool change cyclefor replacing an old tool from the spindle in one matrix and fortransferring a new tool from the alternate matrix to said spindle, saidalternate matrix being movable to locate said new tool at the shuttlestation thereof ready for transfer to said spindle prior to said toolchange cycle, said controlling means being adapted in said tool changecycle for (a) operating one shuttle to carry said old tool to said onematrix, and for (b) operating the other shuttle to carry said new toolfrom the alternate matrix to said spindle.

9. In a machine tool having an axially translatable and rotatablespindle, a pair of matrixes straddling said spindle each matrixsupporting a plurality of tools for movement of each of said tools to ashuttle station opposite said spindle, means including a pair ofshuttles movable radially of said spindle for transferring succeedingtools to said spindle from alternate matrixes, said shuttles beingmovable simultaneously in opposite directions for one shuttle to removea tool from the spindle while the other shuttle transfers a new tool tothe spindle, and moves providing relative movement between said spindleand said shuttles respectively in a direction axi ally of said spindlefor transferring tools therebetween.

10. For use in apparatus for changing tools in a machine tool, each ofsaid tools having a thin gripping flange, a tool transfer shuttle havingparallel, resilient, horizontal tool gripping arms adapted to embrace atool for holding such tool in a vertical position by gripping the flangethereof, said arms forming opposed recesses each having a lower shoulderon which said tool flange is adapted to rest, said arms formingoutwardly flaring surfaces below said shoulders for spreading a lowerportion of said arms upon engagement by the flange of a tool forcedupwardly between said arms until said flange is received in saidrecesses.

11. For use in apparatus for changing tools in a machine tool, each ofsaid tools having a thin gripping flange, a tool transfer shuttle havingparallel, resilient, horizontal tool gripping arms adapted to embrace atool for holding such tool in a vertical position by gripping the flangethereof, said arms forming opposed recesses each having a lower shoulderon which said tool flange is adapted to rest, and means on said armsengageable by the flange of a tool forced upwardly between said arms forspreading a lower portion of said arms until said flange is received insaid recesses.

12. In a machine tool having a vertically movable spindle, a pair ofhorizontal tool storage matrixes straddling the axis of said spindleeach defining a ring of tool support sockets rotatable about verticalaxes substantially equally spaced from said spindle, a tool transfershuttle for each of said matrixes movable along a horizontal linear pathconnecting a point inside the respective matrix ring and a pointsubstantially aligned with said spindle, each said shuttle having meansfor holding a tool in a vertical position to insert into or withdraw atool from the respective matrix as an incident to movement of theshuttle and to position a tool in axial alignment with the spindle or towithdraw a tool from such position, said spindle being movablevertically to engage a tool held in axial alignment therewith by one ofsaid shuttles, and means for controlling said shuttles, matrixes andspindle in a tool change cycle for replacing an old tool from thespindle in one matrix by one shuttle and for transferring a new toolfrom the alternate matrix to said spindle by the other shuttle.

13. I11 a machine tool having an automatic tool changer; the combinationcomprising a vertical, axially movable, rotatable spindle; a toolstorage matrix defining a plurality of supports horizontally spaced fromsaid spindle for carrying tools in vertical storage position; a tooltransfer shuttle mounted to move bodily in a horizontal linear pathextending from a first terminal point adjacent said matrix to a secondterminal point between said matrix and said-spindle for carrying a toolalong a horizontal linear path between said matrix and said spindle;afixed horizontal trackextending laterally from said spindle to saidmatrix for carrying said shuttle along said path; and holding means onsaid shuttle for selectively gripping or releasing a tool in the matrixtool support or in said spindle and for holding a tool in verticalposition while said shuttle moves along said path between said terminalpoints, said shuttle and said holding means serving as said shuttlemoves toward said first terminal point to hold a tool in horizontalalignment with its storage position and to transfer such tool directlyto a matrix tool support as an incident to shuttle movement, and servingas said shuttle moves to said second terminal point to withdraw a toolfrom said matrix tool support and to transport the tool to a position invertical alignment with said spindle, said spindle being movablevertically downward into engagement with a tool held in said shuttle soas to transfer the tool directly to said spindle as an incident tospindle movement past said shuttle.

14. In a machine tool having an automatic tool changer; the combinationcomprising, a vertical, axially movable, rotatable spindle; a toolstorage matrix defining a plurality of supports horizontally spaced fromsaid spindle for carrying tools in vertical storage position; a tooltransfer shuttle mounted to move bodily in a horizontal linear pathextending from a first terminal point laterally spaced from said spindlebeyond one of said matrix tool supports to a second terminal pointbetween said matrix and said spindle; a fixed horizontal track extendinglaterally from said spindle to said matrix for to hold a tool intrailing relation to said shuttle and in horizontal alignment with itsstorage position and to transfer such tool directly to the matrix toolsupport as an incident to shuttle movement, and serving as said shuttlemoves to said second terminal point to selectively grip and withdraw atool from said matrix tool support and to transport the tool in leadingrelation to said shuttle to a position in vertical alignment with saidspindle; means responsive to said shuttle reaching said second terminalpoint for moving said spindle vertically downward into engagement with atool held in said shuttle; and means responsive to such movement of saidspindle for releasing said holding means so as to transfer the tooldirectly to said spindle as an incident to spindle movement past saidshuttle.

References Cited by the Examiner UNITED STATES PATENTS 2,955,488 10/60Philip.

RICHARD H. EANES, 111., Primary Examiner.

WHITMORE A. WlLTZ, Examiner.

13. IN A MACHINE TOOL HAVING AN AUTOMATIC TOOL CHANGER; THE COMBINATIONCOMPRISING A VERTICAL, AXIALLY MOVABLE, ROTATABLE SPINDLE; A TOOLSTORAGE MATRIX DEFINING A PLURALITY OF SUPPORTS HORIZONTALLY SPACED FROMSAID SPINDLE FOR CARRYING TOOLS IN VERTICAL STORAGE POSITION; A TOOLTRANSFER SHUTTLE MOUNTED TO MOVE BODILY IN A HORIZONTAL LINEAR PATHEXTENDING FROM A FIRST TERMINAL POINT ADJACENT SAID MATRIX TO A SECONDTERMINAL POINT BETWEEN SAID MATRIX AND SAID SPINDLE FOR CARRYING A TOOLALONG A HORIZONTAL LINEAR PATH BETWE NSAID MATRIX AND SAID SPINDLE; AFIXED HORIZONTAL TRACK EXTENDING LATERALLY FROM SAID SPINDLE TO SAIDMATRIX FOR CARRYING SAID SHUTTLE ALONG SAID PATH; AND HOLDING MEANS ONSAID SHUTTLE FOR SELECTIVELY GRIPPING OR RELEASING A TOOL IN THE MATRIXTOOL SUPPORT OR IN SAID SPINDLE AND FOR HOLIDNG A TOOL IN VERTICALPOSITION WHILE SAID SHUTTLE MOVES ALONG SAID PATH BETWEEN SAID TERMINALPOINTS, SAID SHUTTLE AND SAID HOLDING MEANS SERVING AS SAID SHUTTLEMOVES TOWARDS SAID FIRST TERMINAL POINT TO HOLD A TOOL IN HORIZONTALALIGNMENT WITH ITS STORAGE POSITION AND TO TRANSFER SUCH TOOL DIRECTLYTO A MATRIX TOOL SUPPORT AS AN INCIDENT TO SHUTTLE MOVEMENT, AND SERVINGAS SAID SHUTTLE MOVES TO SAID SECOND TERMINAL POINT TO WITHDRAW A TOOLFROM SAID MATRIX TOOL SUPPORT AND TO TRANSPORT THE TOOL TO A POSITION INVERTICAL ALIGNMENT WITH SAID SPINDEL, SAID SPINDLE BEING MOVABLEVERTICALLY DOWNWARD INTO ENGAGEMENT WITHA TOOL HELD IN SAID SHUTTLE SOAS TO TRANSFER THE TOOL DIRECTLY TO SAID SPINDLE AS AN INCIDENT TOSPINDLE MOVEMENT PAST SAID SHUTTLE.